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<p class="MsoNormal"><span lang="EN-US">Hello<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I have a problem with EtherCAT DC synchronization<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">A problem is that our EtherCAT master can’t DC sync with slave device<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Our test program only executes PDO communication with a slave device using DC sync<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Period of DC sync is 1ms<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">But, it is not operated successfully because a value of the time differential register is increase infinitely (I checked value every 0.1S using watch command)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I tested latency and clock drift of our xenomai environment. But, results of test are normal<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">So, I don’t know why this result is occur<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">I guess that cause is about linux xenomai build configuration, So I changed several build option of linux kernel with ipipe patch<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">But, all of results are same as my problem<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Please help me and tell us about your opinion of this problem<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">last, Below contents are our system specification and results of test<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="text-indent:39.75pt"><span lang="EN-US">Out system specification is same below<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">ipipe patched linux kernel 3.14.44 (Ubuntu 14.04)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">Xenomai 2.6.4 (./configure --enable-x86-sep)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">Etherlab 1.5 stable newest version (./configure --prefix=/usr/local/etherlab --disable-8139too --enable-r8169 --enable-rtdm --with-xenomai-dir=/usr/xenomai --enable-debug-if)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">CPU: Bay-trail N2930, Lan: Realtek 8111 (R8169)<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-left:40.0pt"><span lang="EN-US">Result of Latency test (average is about 6us, maximum is about 25us)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">RTH|----lat min|----lat avg|----lat max|-overrun|---msw|---lat best|--lat worst<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd"><span lang="EN-US">RTD| -0.998| 6.094| 20.072| 0| 0| -0.998| 20.072<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd"><span lang="EN-US">RTD| -0.782| 5.635| 18.281| 0| 0| -0.998| 20.072<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd"><span lang="EN-US">RTD| -0.638| 5.868| 19.675| 0| 0| -0.998| 20.072<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd"><span lang="EN-US">RTD| -0.613| 5.375| 17.536| 0| 0| -0.998| 20.072<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Result of Clock test<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">CPU ToD offset [us] Tod drift [us/s] wrps max delta [us]<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd"><span lang="EN-US">---- ----------------------- ------------------ ----------- -----------------<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:9.0pt">
<span lang="EN-US">0 -1165172.1 0.026 0 0.0<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:9.0pt">
<span lang="EN-US">1 -1165172.0 0.040 0 0.0<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:9.0pt">
<span lang="EN-US">2 -1165172.0 0.014 0 0.0<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:9.0pt">
<span lang="EN-US">3 -1165172.4 -0.075 0 0.0<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"> Value of Time differential register (Increase infinitely)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd;text-indent:-18.0pt;mso-list:l0 level1 lfo2">
<![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">watch n0 ethercat reg_read –p0 –tsm32 0x92c (Execute read register every 0.1S)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="margin-left:76.0pt;mso-para-margin-left:0gd"><span lang="EN-US">0x02f8e929 49867049<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Thank you for your attention and have a nice day<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Best regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Myungjin Kim<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal" style="line-height:12.0pt;mso-line-height-rule:exactly"><b>김명진 주임연구원</b><b><span lang="EN-US" style="font-family:"Arial","sans-serif""> (Myungjin Kim)</span></b><span lang="EN-US" style="font-family:"Arial","sans-serif""><o:p></o:p></span></p>
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</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6"><o:p></o:p></span></p>
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<span style="font-size:8.0pt;color:#A6A6A6">본</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6"> e-mail</span><span style="font-size:8.0pt;color:#A6A6A6">에는</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">중요정보나</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">비밀정보가</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">포함되어</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">있을</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">수</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">있으므로</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">이를</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">무단으로</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">배포</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">,
</span><span style="font-size:8.0pt;color:#A6A6A6">복사</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">,
</span><span style="font-size:8.0pt;color:#A6A6A6">유용하거나</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">제</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">3</span><span style="font-size:8.0pt;color:#A6A6A6">자에게</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">공개</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">,
</span><span style="font-size:8.0pt;color:#A6A6A6">누설할</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">수</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">없으며</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">,
</span><span style="font-size:8.0pt;color:#A6A6A6">만약</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">귀하가</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">정당한</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">수신인이</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">아니라면</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">본</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6"> e-mail</span><span style="font-size:8.0pt;color:#A6A6A6">을</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">발신인에게</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">회신하신</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">후</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">이를</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">삭제하여</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">주시기</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">바랍니다</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">.
</span><span style="font-size:8.0pt;color:#A6A6A6">본</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6"> e-mail
</span><span style="font-size:8.0pt;color:#A6A6A6">전송에</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">따라</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">발생된</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">어떠한</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">오류나</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">누락</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">,
</span><span style="font-size:8.0pt;color:#A6A6A6">훼손</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">,
</span><span style="font-size:8.0pt;color:#A6A6A6">바이러스의</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">감염에</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">대하여</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">회사는</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">책임을</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">지지</span><span style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">
</span><span style="font-size:8.0pt;color:#A6A6A6">않습니다</span><span lang="EN-US" style="font-size:8.0pt;font-family:"Arial","sans-serif";color:#A6A6A6">.</span><span lang="EN-US" style="font-family:"Arial","sans-serif";color:#1F497D"><o:p></o:p></span></p>
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